A proposed computational framework for autonomous vehicles

This paper presents the architecture and design concept of a low-cost, light weight, computational framework intended primarily for the navigation of small autonomous vehicles. The proposed system integrates GPS, inertial sensor, magnetometer and range-finder modules together with a high-performance microcontroller. Debugging facilities and various data communication and storage facilities are proposed in order to enhance access and the overall capabilities of the system. An object-oriented driver library written in C++ is proposed. This is intended to facilitate development and adaptation of software for the system; consequently widening the target audience as much as possible.